[ompl] Fix linking using ${OMPL_LIBRARIES}

ports/ccd/CONTROL

@@ -1,4 +1,5 @@
 Source: ccd
 Version: 2.1-4
+Port-Version: 1
 Homepage: https://github.com/danfis/libccd
 Description: Library for collision detection between two convex shapes

ports/ccd/fix-static.patch

@@ -0,0 +1,13 @@
+diff --git a/src/ccd/ccd_export.h b/src/ccd/ccd_export.h
+index e898d41..c6aa5fb 100644
+--- a/src/ccd/ccd_export.h
++++ b/src/ccd/ccd_export.h
+@@ -1,7 +1,7 @@
+ #ifndef CCD_EXPORT_H
+ #define CCD_EXPORT_H
+
+-#ifdef CCD_STATIC_DEFINE
++#if 1
+ #  define CCD_EXPORT
+ #else
+ #  ifdef _MSC_VER

ports/ccd/portfile.cmake

@@ -1,11 +1,17 @@
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(STATIC_PATCH fix-static.patch)
+endif()
+
 vcpkg_from_github(
     OUT_SOURCE_PATH SOURCE_PATH
     REPO danfis/libccd
     REF v2.1
     SHA512 ff037d9c4df50f09600cf9b3514b259b2850ff43f74817853f5665d22812891168f70bd3cc3969b2c9e3c706f6254991a65421476349607fbd04d894b217456d
     HEAD_REF master
     # Backport https://github.com/danfis/libccd/pull/70 to support Emscripten
-    PATCHES "support-emscripten.patch"
+    PATCHES
+        "support-emscripten.patch"
+        ${STATIC_PATCH}
 )
 
 vcpkg_configure_cmake(

ports/ompl/0001_Export_targets.patch

@@ -0,0 +1,27 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index a9bb05f..31fab8c 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -215,6 +215,10 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/omplConfig.cmake
+     ${CMAKE_CURRENT_BINARY_DIR}/omplConfigVersion.cmake
+     DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/ompl/cmake
+     COMPONENT ompl)
++install(EXPORT ompl
++    DESTINATION "share/ompl"
++    FILE ompl-targets.cmake
++)
+
+ # script to install ompl on Ubuntu
+ configure_file("${CMAKE_CURRENT_SOURCE_DIR}/install-ompl-ubuntu.sh.in"
+diff --git a/src/ompl/CMakeLists.txt b/src/ompl/CMakeLists.txt
+index 9ea130e..6dda4df 100644
+--- a/src/ompl/CMakeLists.txt
++++ b/src/ompl/CMakeLists.txt
+@@ -83,6 +83,7 @@ endif (MSVC)
+
+ # install the library
+ install(TARGETS ompl
++    EXPORT ompl
+     DESTINATION ${CMAKE_INSTALL_LIBDIR}
+     COMPONENT ompl)
+ if (NOT MSVC)

ports/ompl/0002_Fix_config.patch

@@ -0,0 +1,39 @@
+diff --git a/omplConfig.cmake.in b/omplConfig.cmake.in
+index 465de25..ad373fa 100644
+--- a/omplConfig.cmake.in
++++ b/omplConfig.cmake.in
+@@ -18,8 +18,10 @@ set(OMPL_MAJOR_VERSION @PROJECT_VERSION_MAJOR@)
+ set(OMPL_MINOR_VERSION @PROJECT_VERSION_MINOR@)
+ set(OMPL_PATCH_VERSION @PROJECT_VERSION_PATCH@)
+
++find_dependency(Boost 1.58 COMPONENTS serialization filesystem system program_options)
++find_dependency(Eigen3)
+ set_and_check(OMPL_INCLUDE_DIR "@PACKAGE_INCLUDE_INSTALL_DIR@")
+-set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};@Boost_INCLUDE_DIR@;@EIGEN3_INCLUDE_DIR@")
++set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIR};${Boost_INCLUDE_DIR};${EIGEN3_INCLUDE_DIR}")
+ foreach(_dir @FLANN_INCLUDE_DIRS@;@ODE_INCLUDE_DIRS@;@SPOT_INCLUDE_DIRS@;@TRIANGLE_INCLUDE_DIR@;@FCL_INCLUDE_DIRS@;@PQP_INCLUDE_DIR@;@ASSIMP_INCLUDE_DIRS@;@OPENGL_INCLUDE_DIR@)
+     if(_dir)
+         list(APPEND OMPL_INCLUDE_DIRS "${_dir}")
+@@ -29,7 +31,7 @@ list(REMOVE_DUPLICATES OMPL_INCLUDE_DIRS)
+ set(OMPL_INCLUDE_DIRS "${OMPL_INCLUDE_DIRS}" CACHE STRING "Include path for OMPL and its dependencies")
+
+ set_and_check(OMPL_LIBRARY_DIR @PACKAGE_LIB_INSTALL_DIR@)
+-set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};@Boost_LIBRARY_DIRS@")
++set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIR};${Boost_LIBRARY_DIRS}")
+ foreach(_dir @FLANN_LIBRARY_DIRS@;@ODE_LIBRARY_DIRS@;@SPOT_LIBRARY_DIRS@;@FCL_LIBRARY_DIRS@;@ASSIMP_LIBRARY_DIRS@)
+     if(_dir)
+         list(APPEND OMPL_LIBRARY_DIRS "${_dir}")
+@@ -40,7 +42,7 @@ set(OMPL_LIBRARY_DIRS "${OMPL_LIBRARY_DIRS}" CACHE STRING "Library path for OMPL
+
+ find_library(OMPL_LIBRARIES NAMES ompl.${OMPL_VERSION} ompl
+     PATHS ${OMPL_LIBRARY_DIR} NO_DEFAULT_PATH)
+-foreach(_lib @Boost_SERIALIZATION_LIBRARY@;@Boost_FILESYSTEM_LIBRARY@;@Boost_SYSTEM_LIBRARY@;@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
++foreach(_lib ${Boost_SERIALIZATION_LIBRARY};${Boost_FILESYSTEM_LIBRARY};${Boost_SYSTEM_LIBRARY};@ODE_LIBRARIES@;@SPOT_LIBRARIES@)
+     if(_lib)
+         list(APPEND OMPL_LIBRARIES "${_lib}")
+     endif()
+@@ -61,3 +63,4 @@ endif()
+
+ include(FindPackageHandleStandardArgs)
+ find_package_handle_standard_args(ompl DEFAULT_MSG OMPL_INCLUDE_DIRS OMPL_LIBRARY_DIRS OMPL_LIBRARIES)
++include(${CMAKE_CURRENT_LIST_DIR}/ompl-targets.cmake)

ports/ompl/CONTROL

@@ -1,10 +1,6 @@
 Source: ompl
 Version: 1.5.1
-Port-Version: 0
+Port-Version: 1
 Homepage: https://ompl.kavrakilab.org/
 Description: The Open Motion Planning Library, consists of many state-of-the-art sampling-based motion planning algorithms
 Build-Depends: boost-dynamic-bitset, boost-filesystem, boost-graph, boost-odeint, boost-program-options, boost-serialization, boost-system, boost-test, boost-ublas, boost-timer, eigen3
-
-Feature: app
-Description: Add support for reading meshes and performing collision checking
-Build-Depends: assimp, fcl

ports/ompl/portfile.cmake

@@ -2,28 +2,19 @@ vcpkg_buildpath_length_warning(37)
 
 set(OMPL_VERSION 1.5.1)
 
-set(FEATURE_PATCHES)
-
-if("app" IN_LIST FEATURES)
-    vcpkg_download_distfile(ARCHIVE
-        URLS "https://github.com/ompl/omplapp/releases/download/1.5.1/omplapp-1.5.1-Source.tar.gz"
-        FILENAME "omplapp-${OMPL_VERSION}.tar.gz"
-        SHA512 83b1b09d6be776f7e15a748402f0c2f072459921de61a92731daf5171bd1f91a829fbeb6e10a489b92fba0297f6272e7bb6b8f07830c387bb29ccdbc7b3731f3
-    )
-    list(APPEND FEATURE_PATCHES fix_dependency.patch)
-else()
-    vcpkg_download_distfile(ARCHIVE
-        URLS "https://github.com/ompl/ompl/archive/1.5.1.tar.gz"
-        FILENAME "ompl-${OMPL_VERSION}.tar.gz"
-        SHA512 2f28d29f32f3bb03e67b29ce251e4786364847a25e3c4cf66d7663ed38dca4da71d4e03cf9ce647710d9524a3907c76c09795e77f041cb8822f695d28f5ca570
-    )
-endif()
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://github.com/ompl/ompl/archive/1.5.1.tar.gz"
+    FILENAME "ompl-${OMPL_VERSION}.tar.gz"
+    SHA512 2f28d29f32f3bb03e67b29ce251e4786364847a25e3c4cf66d7663ed38dca4da71d4e03cf9ce647710d9524a3907c76c09795e77f041cb8822f695d28f5ca570
+)
 
 vcpkg_extract_source_archive_ex(
     OUT_SOURCE_PATH SOURCE_PATH
     ARCHIVE ${ARCHIVE}
     REF ${OMPL_VERSION}
-    PATCHES ${FEATURE_PATCHES}
+    PATCHES
+        0001_Export_targets.patch
+        0002_Fix_config.patch
 )
 
 # Based on selected features different files get downloaded, so use the following command instead of patch.
@@ -58,17 +49,6 @@ file(REMOVE_RECURSE
     ${CURRENT_PACKAGES_DIR}/share/ompl/ompl.conf
     ${CURRENT_PACKAGES_DIR}/share/ompl/plannerarena
 )
-if ("app" IN_LIST FEATURES)
-    file(MAKE_DIRECTORY ${CURRENT_PACKAGES_DIR}/tools/ompl)
-    file(RENAME ${CURRENT_PACKAGES_DIR}/bin/ompl_benchmark.exe ${CURRENT_PACKAGES_DIR}/tools/ompl/ompl_benchmark.exe)
-    file(REMOVE_RECURSE
-        ${CURRENT_PACKAGES_DIR}/bin
-        ${CURRENT_PACKAGES_DIR}/debug/bin
-        ${CURRENT_PACKAGES_DIR}/include/omplapp/CMakeFiles
-        ${CURRENT_PACKAGES_DIR}/share/ompl/resources
-        ${CURRENT_PACKAGES_DIR}/share/ompl/webapp
-    )
-endif()
 
 if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
     file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")

ports/omplapp/fix_boost_static_link.patch

@@ -0,0 +1,17 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index f5c3c88..3a4a7d4 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -36,10 +36,10 @@ set(OMPL_DEMO_INSTALL_DIR "${CMAKE_INSTALL_DATAROOTDIR}/ompl/demos"
+ set(OMPL_CMAKE_UTIL_DIR "${CMAKE_CURRENT_SOURCE_DIR}/ompl/CMakeModules"
+     CACHE FILEPATH "Path to directory with auxiliary CMake scripts for OMPL")
+
+-if(MSVC)
++if(false)
+     add_definitions(-DBOOST_ALL_NO_LIB)
+     add_definitions(-DBOOST_PROGRAM_OPTIONS_DYN_LINK)
+-endif(MSVC)
++endif(false)
+ # Ensure dynamic linking with boost unit_test_framework
+ add_definitions(-DBOOST_TEST_DYN_LINK)
+ # Avoid valgrind error due to overflow error, cf. https://bitbucket.org/ompl/ompl/issues/543

ports/omplapp/portfile.cmake

@@ -0,0 +1,67 @@
+vcpkg_buildpath_length_warning(37)
+
+set(OMPL_VERSION 1.5.1)
+
+vcpkg_download_distfile(ARCHIVE
+    URLS "https://github.com/ompl/omplapp/releases/download/1.5.1/omplapp-1.5.1-Source.tar.gz"
+    FILENAME "omplapp-${OMPL_VERSION}.tar.gz"
+    SHA512 83b1b09d6be776f7e15a748402f0c2f072459921de61a92731daf5171bd1f91a829fbeb6e10a489b92fba0297f6272e7bb6b8f07830c387bb29ccdbc7b3731f3
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL static)
+    set(STATIC_PATCH fix_boost_static_link.patch)
+endif()
+
+vcpkg_extract_source_archive_ex(
+    OUT_SOURCE_PATH SOURCE_PATH
+    ARCHIVE ${ARCHIVE}
+    REF ${OMPL_VERSION}
+    PATCHES
+        fix_dependency.patch
+        ${STATIC_PATCH}
+)
+
+# Based on selected features different files get downloaded, so use the following command instead of patch.
+file(READ ${SOURCE_PATH}/CMakeLists.txt _contents)
+string(REPLACE "find_package(Eigen3 REQUIRED)" "find_package(Eigen3 REQUIRED CONFIG)" _contents "${_contents}")
+string(REPLACE "find_package(ccd REQUIRED)" "find_package(ccd REQUIRED CONFIG)" _contents "${_contents}")
+file(WRITE ${SOURCE_PATH}/CMakeLists.txt "${_contents}")
+
+vcpkg_configure_cmake(
+    SOURCE_PATH ${SOURCE_PATH}
+    PREFER_NINJA
+    DISABLE_PARALLEL_CONFIGURE
+    OPTIONS
+        -DOMPL_VERSIONED_INSTALL=OFF
+        -DOMPL_REGISTRATION=OFF
+        -DOMPL_BUILD_DEMOS=OFF
+        -DOMPL_BUILD_TESTS=OFF
+        -DOMPL_BUILD_PYBINDINGS=OFF
+        -DOMPL_BUILD_PYTESTS=OFF
+)
+
+vcpkg_install_cmake()
+
+vcpkg_fixup_cmake_targets(CONFIG_PATH share/ompl/cmake)
+
+# Remove debug distribution and other, move ompl_benchmark to tools/ dir
+vcpkg_copy_tools(TOOL_NAMES ompl_benchmark AUTO_CLEAN)
+file(REMOVE_RECURSE
+    "${CURRENT_PACKAGES_DIR}/include/ompl"
+    "${CURRENT_PACKAGES_DIR}/bin"
+    "${CURRENT_PACKAGES_DIR}/include/omplapp/CMakeFiles"
+    "${CURRENT_PACKAGES_DIR}/lib/ompl.lib"
+    "${CURRENT_PACKAGES_DIR}/share/ompl"
+    "${CURRENT_PACKAGES_DIR}/share/man"
+    "${CURRENT_PACKAGES_DIR}/debug/bin"
+    "${CURRENT_PACKAGES_DIR}/debug/include"
+    "${CURRENT_PACKAGES_DIR}/debug/lib/ompl.lib"
+    "${CURRENT_PACKAGES_DIR}/debug/share"
+)
+
+if(VCPKG_LIBRARY_LINKAGE STREQUAL "static")
+    file(REMOVE_RECURSE "${CURRENT_PACKAGES_DIR}/bin" "${CURRENT_PACKAGES_DIR}/debug/bin")
+endif()
+
+# Handle copyright
+file(INSTALL "${SOURCE_PATH}/LICENSE" DESTINATION "${CURRENT_PACKAGES_DIR}/share/${PORT}" RENAME copyright)

ports/omplapp/vcpkg.json

@@ -0,0 +1,11 @@
+{
+  "name": "omplapp",
+  "version-string": "1.5.1",
+  "description": "Use OMPL for reading meshes and performing collision checking",
+  "homepage": "https://ompl.kavrakilab.org/",
+  "dependencies": [
+    "assimp",
+    "fcl",
+    "ompl"
+  ]
+}

versions/baseline.json

@@ -1154,7 +1154,7 @@
     },
     "ccd": {
       "baseline": "2.1-4",
-      "port-version": 0
+      "port-version": 1
     },
     "ccfits": {
       "baseline": "2.5",
@@ -4489,6 +4489,10 @@
       "port-version": 2
     },
     "ompl": {
+      "baseline": "1.5.1",
+      "port-version": 1
+    },
+    "omplapp": {
       "baseline": "1.5.1",
       "port-version": 0
     },

versions/c-/ccd.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "a720cc123c190c6b68e57e356c4937685eeb2faa",
+      "version-string": "2.1-4",
+      "port-version": 1
+    },
     {
       "git-tree": "c5315a631ffcea9c2a158578e73c53d8455808de",
       "version-string": "2.1-4",

versions/o-/ompl.json

@@ -1,5 +1,10 @@
 {
   "versions": [
+    {
+      "git-tree": "f3812117c1ed1d4080155284f12908236dd797f5",
+      "version-string": "1.5.1",
+      "port-version": 1
+    },
     {
       "git-tree": "2dc123683ef75002bd7252b252cc220a7a643066",
       "version-string": "1.5.1",

versions/o-/omplapp.json

@@ -0,0 +1,9 @@
+{
+  "versions": [
+    {
+      "git-tree": "590eb9956381e7ef47b780fbd9aee2c6e8da323c",
+      "version-string": "1.5.1",
+      "port-version": 0
+    }
+  ]
+}